diff --git a/nav2_rviz_plugins/package.xml b/nav2_rviz_plugins/package.xml
index 3de0d3c9f54..b4d0a8ed01f 100644
--- a/nav2_rviz_plugins/package.xml
+++ b/nav2_rviz_plugins/package.xml
@@ -25,6 +25,7 @@
   <depend>rviz_rendering</depend>
   <depend>std_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>urdf</depend>
   <depend>visualization_msgs</depend>
   <depend>yaml_cpp_vendor</depend>